CN112722273B - Gravity center adjustable composite propulsion unmanned aerial vehicle and control method thereof - Google Patents
Gravity center adjustable composite propulsion unmanned aerial vehicle and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
- B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
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- B64D27/026—
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
Abstract
The utility model provides a compound propulsion unmanned aerial vehicle of focus adjustable and control method thereof, two power horn of unmanned aerial vehicle are parallel articulated through four crossbeams with comprehensive bearing the fuselage, rotatory joint rotates the drive horn and moves forward and backward, thereby realize unmanned aerial vehicle's focus adjustment, unmanned aerial vehicle adopts lift rotor and the compound propulsion of propulsion rotor, two left and right sides impel rotor counter-rotation in order to offset the anti-torque moment, the differential rotation provides the course control moment when unmanned aerial vehicle cruises, adopt the flight of self-adaptation lift rotor positive angle of attack, adjust unmanned aerial vehicle angle of attack with lift rotor gesture control through the focus is adjusted, thereby adjust lift rotor flight angle of attack, unmanned aerial vehicle automatically regulated angle of attack under different airspeeds.
Description
Technical Field
The invention relates to an unmanned aerial vehicle, in particular to a compound propulsion unmanned aerial vehicle with an adjustable gravity center and a control method thereof.
Background
The field of large-load unmanned aerial vehicles currently has three structural types of fixed wings, multiple rotors and helicopters. The high-load fixed wing unmanned aerial vehicle has mature technology, high flying speed and strong load capacity. Meanwhile, the fixed wing unmanned aerial vehicle is complex in use and maintenance, high in operation difficulty and required to take off and land on a fixed runway. The large-load multi-rotor unmanned aerial vehicle is electric at present, has a simple structure and is easy and convenient to operate, and can vertically take off, land and hover. The unmanned aerial vehicle is limited by insufficient energy density of a battery, and has short endurance. The traditional multi-rotor wing is distributed in a central symmetry mode, the flight resistance is high, and the flight speed is low. The unmanned helicopter with large load has mature technology, strong load carrying capacity and long aviation duration. However, the large-load unmanned helicopter has a complex structure, high operation difficulty and high use and maintenance cost, and cannot be applied on a large scale.
Disclosure of Invention
Disclosure of Invention
Aiming at a plurality of problems of the existing three large-load unmanned aerial vehicles, the invention provides a compound propulsion unmanned aerial vehicle structure with an adjustable gravity center, and the compound propulsion unmanned aerial vehicle structure has the advantages of adjustable gravity center, compound propulsion, multi-energy supply, simple structure, easy use and maintenance, vertical lifting, long-time high-speed cruising and the like.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the utility model provides a focus adjustable compound propulsion unmanned aerial vehicle, including electric energy generation module, bear fuselage, modularization energy cabin, modularization load cabin, horn, avionics cabin, pilot's operator's seat, lift rotor, propulsion rotor and undercarriage, the electric energy generation module includes gas turbine electric energy generation module and/or hydrogen fuel pile electric energy generation module, modularization energy cabin includes fuel tank and/or high pressure hydrogen tank fuel tank, the electric energy that the electric energy generation module sent provides the energy through avionics cabin's comprehensive power management module for equipment such as navigation equipment, mission computer, the electric energy that sends provides the energy for lift rotor and propulsion rotor that installs in the horn simultaneously;
the bearing machine body is arranged between the two machine arms, the two machine arms are connected through four parallel cross beams, and the longitudinal axes of the two machine arms and the bearing machine body are parallel; the bearing machine body is in translation relative to the machine arm in the longitudinal axis direction, the distance between the machine arm and the bearing machine body is adjusted through translation, and the cross beam is hinged with the machine arm and the bearing machine body through rotary joints respectively; the two power horn of unmanned aerial vehicle are articulated through four crossbeams in parallel with bear the fuselage, and rotatory joint rotates the drive horn and reciprocates to realize unmanned aerial vehicle's focus and adjust.
The unmanned aerial vehicle adopts a lift rotor wing and a propulsion rotor wing to carry out compound propulsion, so that the unmanned aerial vehicle can realize vertical take-off and landing, hovering and high-speed cruising; three pairs of coaxial contra-rotating and horizontally-rotating lift rotors are longitudinally arranged on each horn to provide lift, the vertically-rotating tail propulsion rotors provide cruising and horizontal thrust for the unmanned aerial vehicle, the left propulsion rotor and the right propulsion rotor contra-rotate to offset the counter-torque moment, and the differential rotation provides heading control moment when the unmanned aerial vehicle cruises.
A control method of a compound propulsion unmanned aerial vehicle with an adjustable gravity center adopts a self-adaptive lifting rotor wing to fly at a positive attack angle, wherein the lifting rotor wing and air flow are at the positive attack angle during cruising, and the head-on incoming flow is coupled with the downward washing air flow of the lifting rotor wing; the self-adaptive positive angle-of-attack flight of the lift rotor wing means that the unmanned plane automatically adjusts the positive angle-of-attack degree flight of the lift rotor wing according to the flight airspeed, and composite propulsion is adopted in the cruising process, and the lift rotor wing and the incoming flow are coupled to additionally generate lift force, so that the purpose of improving the flight efficiency is achieved; under different airspeeds, the optimal flight attack angle of the lift rotor wing is different, and the attack angle of the unmanned aerial vehicle is adjusted through gravity center adjustment and lift rotor wing attitude control, so that the flight attack angle of the lift rotor wing is adjusted, and the unmanned aerial vehicle automatically adjusts the attack angle under different airspeeds.
The beneficial effects of the invention compared with the prior art are as follows:
the gas turbine electric energy generation module and the hydrogen fuel pile electric energy generation module realize the full electric propulsion and long endurance of the composite propulsion unmanned aerial vehicle with the adjustable center of gravity, and reduce the simple difficulty of using and maintaining the large-load unmanned aerial vehicle.
The integrated power horn lift rotor wing and the propelling rotor wing are combined for propelling, so that the cross-sectional area and the cruising resistance are reduced, and the cruising speed is improved. The integrated horn can be folded automatically, after the unmanned aerial vehicle falls, the horizontal rotor wing rotates to a position parallel to the horn, and the horn is folded towards the direction of the fuselage, so that the shutdown size of the unmanned aerial vehicle is reduced; the horn is connected with the bearing body in parallel, so that the dynamic gravity center adjustment of the unmanned aerial vehicle is realized, the optimal matching of gravity center and pressure center under different speeds is realized, the flight efficiency of the composite propulsion unmanned aerial vehicle with the adjustable gravity center is improved, the unmanned aerial vehicle can be folded after landing, and the shutdown occupation area is reduced.
The lift rotor power sets are uniformly distributed along the longitudinal axis direction of the horn, so that the transverse sectional area of the unmanned aerial vehicle is effectively reduced, and the high-speed flight resistance of the unmanned aerial vehicle is reduced.
According to the invention, a double-propulsion rotor technology is adopted, and the unmanned aerial vehicle cruises the horizontal thrust from the propulsion rotor at the tail of the horn, so that the unmanned aerial vehicle cruises at a high speed. The dual-rotor differential control can realize high-speed course control, and solves the problem of insufficient course control moment of the large multi-rotor unmanned aerial vehicle.
The invention adopts the positive incidence flight technique of the lift rotor wing, improves the cruising lift of the unmanned aerial vehicle and improves the cruising efficiency.
The modularized load cabin and the flight operation seat are adopted, so that the multi-task performance of the composite propulsion unmanned aerial vehicle with the adjustable gravity center is realized, and the unmanned aerial vehicle can fly, carry cargo, fly and carry passenger and cargo in a mixed mode in various flight states.
According to the self-adaptive lift rotor positive angle of attack flight technology, when the unmanned aerial vehicle cruises, the lift rotor and the airflow are at positive angles of attack, and the incoming flow is coupled with the downward air-washing flow of the rotor, so that the lift of the unmanned aerial vehicle is improved, the energy consumption of the horizontal rotor in the cruising stage is reduced, and the cruising efficiency of the unmanned aerial vehicle is improved.
According to the self-adaptive gravity center regulating and controlling technology, the horn can move in a certain range relative to the machine body through the hinged transverse arm, so that gravity center regulation is realized, the gravity center application range of the unmanned aerial vehicle is widened, the problem that the optimal gravity center is inconsistent when the unmanned aerial vehicle cruises at a high speed and hovers vertically is solved, and the flight efficiency of the unmanned aerial vehicle is improved.
The modularized load cabin and the pilot operator seat are adopted, so that the load cabin can be quickly replaced to realize the multi-task capability of the unmanned aerial vehicle, the pilot can realize the unmanned aerial vehicle flight operated by the pilot, and the unmanned aerial vehicle has various flight states of manned, cargo and passenger-cargo mixed loading.
Drawings
FIG. 1 is a front view of a composite propulsion unmanned aerial vehicle with an adjustable center of gravity;
FIG. 2 is a side view of the composite propulsion unmanned aerial vehicle with an adjustable center of gravity of the present invention;
FIG. 3 is a top view of the center of gravity adjustable composite propulsion unmanned aerial vehicle of the present invention;
FIG. 4 is a diagram showing a shutdown and folding state of the composite propulsion unmanned aerial vehicle with an adjustable center of gravity;
FIG. 5 is a state diagram of adaptive center of gravity regulation of the composite propulsion unmanned aerial vehicle with an adjustable center of gravity;
FIG. 6 is a schematic diagram of a hover state center of gravity of a center-of-gravity adjustable composite propulsion unmanned aerial vehicle of the present invention;
FIG. 7 is a schematic diagram of the center of gravity of the composite propulsion unmanned aerial vehicle with the adjustable center of gravity in a low-speed state;
FIG. 8 is a schematic view of the cruise control center of gravity of the center-of-gravity adjustable composite propulsion unmanned aerial vehicle of the present invention;
FIG. 9 is a functional block diagram of a center-of-gravity adjustable composite propulsion unmanned aerial vehicle of the present invention;
FIG. 10 is a block diagram of an electrical generator module for a gas turbine in accordance with the present invention;
FIG. 11 is a block diagram of a hydrogen fuel stack power generation module of the present invention;
FIG. 12 is a block diagram of an integrated power management module of the present invention;
FIG. 13 is a block diagram of a center of gravity adjustable compound propulsion unmanned aerial vehicle of the present invention;
FIG. 14 is a view showing the structure of the rotary joint hinge of the present invention;
FIG. 15 is a block diagram of a pilot's operator's seat of the composite propulsion unmanned aerial vehicle with an adjustable center of gravity of the present invention;
FIG. 16 is a schematic illustration of differential propulsion of a center-of-gravity adjustable compound propulsion unmanned aerial vehicle of the present invention;
FIG. 17 is a schematic view of a composite propulsion unmanned aerial vehicle with adjustable center of gravity in hovering, forward, backward, low-speed forward, medium-speed cruise and high-speed cruise states;
in the figure: 1. the power generation system comprises a propulsion rotor 2, an electric energy generation module 3, a bearing fuselage 4, a modularized energy cabin 5, a modularized load cabin 6, a horn 7, an avionics cabin 8, a pilot operator seat 9 and a lift rotor 10, wherein the power generation system comprises a power generation system, a power generation system and a power generation system; 11. unmanned aerial vehicle controller 12 and navigation parameter display screen
Description of the embodiments
The invention is further described below with reference to the drawings and examples.
As shown in fig. 9 and 13, the composite propulsion unmanned aerial vehicle with the adjustable center of gravity comprises an electric energy generating module, a bearing fuselage, a modularized energy cabin, a modularized load cabin, a horn, an avionics cabin, a pilot operation seat, a lift rotor wing, a propulsion rotor wing and a landing gear, wherein the electric energy generating module comprises a gas turbine electric energy generating module and/or a hydrogen fuel pile electric energy generating module, the modularized energy cabin comprises a fuel cabin and/or a high-pressure hydrogen tank fuel cabin, electric energy generated by the electric energy generating module provides energy for equipment such as navigation equipment and a mission computer through a comprehensive power management module of the avionics cabin, and meanwhile, the generated electric energy provides energy for the lift rotor wing and the propulsion rotor wing arranged in the horn;
the electric energy generation module and the modularized energy cabin are in modularized design so as to adapt to unmanned aerial vehicle long-endurance flight in different application environments. The replacement of different power generation modules (gas turbines use conventional fossil fuel kerosene or diesel, hydrogen fuel stacks use hydrogen) and corresponding modular energy pods can be made into conventional fossil fuel unmanned aerial vehicles or hydrogen fuel unmanned aerial vehicles.
The bearing machine body is arranged between the two machine arms, the two machine arms are connected through four parallel cross beams, and the longitudinal axes of the two machine arms and the bearing machine body are parallel; the machine arm, the two cross beams and the bearing machine body form a parallelogram, the bearing machine body translates relative to the machine arm in the longitudinal axis direction, the distance between the machine arm and the bearing machine body is adjusted through translation, and as shown in fig. 14, the cross beams are respectively hinged with the machine arm and the bearing machine body through rotary joints; the two power horn of unmanned aerial vehicle are articulated through four crossbeams in parallel with bear the fuselage, and rotatory joint rotates the drive horn and reciprocates to realize unmanned aerial vehicle's focus and adjust.
As shown in fig. 5-8, in the flight of the unmanned aerial vehicle, the horn moves in a small range along the parallel cross beam, so that the overall gravity center of the unmanned aerial vehicle is adjusted, the gravity center of the whole unmanned aerial vehicle is adjusted in a stepless manner within a certain range, the unmanned aerial vehicle is adapted to the gravity centers of the unmanned aerial vehicle under different task states, the optimal important positions of the composite propulsion unmanned aerial vehicle with adjustable gravity centers under different speeds are matched, and the flight efficiency is improved.
The unmanned aerial vehicle adopts a lifting rotor wing to realize the composite propulsion of the lifting rotor wing and the propelling rotor wing, thereby realizing the vertical take-off and landing, hovering and high-speed cruising of the unmanned aerial vehicle; three pairs of coaxial contra-rotating and horizontally-rotating lift rotors are longitudinally arranged on each horn to provide lift, the vertically-rotating tail propulsion rotors provide cruising and horizontal thrust for the unmanned aerial vehicle, the left propulsion rotor and the right propulsion rotor contra-rotate to offset the counter-torque moment, and the differential rotation provides heading control moment when the unmanned aerial vehicle cruises.
The unmanned aerial vehicle of the invention turns in pitching, rolling and hovering the same as the traditional multi-rotor unmanned aerial vehicle. The difference is that when flying forward, unmanned plane course control mainly has two propulsion rotor differential control realization.
The gas turbine power generation module generates power by using fossil fuel kerosene or diesel oil in the fuel tank, and the hydrogen fuel pile power generation module generates power by using hydrogen in the high-pressure hydrogen tank fuel tank.
As shown in fig. 6, when the gas turbine electric energy generation module is mounted, the energy cabin is fossil fuel kerosene or diesel oil, and the gas turbine works to drive the generator to generate electricity. When the hydrogen fuel pile electric energy generating module is carried, the energy cabin is a high-pressure hydrogen storage tank.
The electric energy generation module is used for carrying a gas turbine electric energy generation module and/or a hydrogen fuel pile electric energy generation module, two new energy electric energy generation modules are adopted for realizing long-distance navigation of the unmanned aerial vehicle, and a corresponding energy cabin (the gas turbine uses traditional fossil fuel kerosene or diesel oil, and the hydrogen fuel pile uses hydrogen) is used for changing into a conventional fossil fuel to generate electricity or a new energy unmanned aerial vehicle for generating electricity by adopting pollution-free hydrogen fuel.
The gas turbine electric generation module comprises a gas turbine, a high-speed permanent magnet brushless generator, a three-phase rectifier bridge and a gas turbine electric energy generation controller, as shown in fig. 10. The gas turbine works to drive the high-speed permanent magnet brushless generator to rotate for power generation, and the generated three-phase alternating current is rectified by the three-phase rectifier bridge to output stable direct current. The gas turbine power generation controller detects the rotation speed of the gas turbine and outputs direct current voltage, adjusts the rotation speed of the gas turbine according to voltage feedback, and keeps the gas turbine power generation module to output stable direct current power.
The hydrogen fuel pile electric energy generation module is a proton exchange membrane hydrogen fuel cell, and comprises a flow control valve, a hydrogen fuel pile, a voltage stabilizer, an air compressor and a hydrogen fuel pile electric energy generation control module, wherein high-pressure hydrogen enters the hydrogen fuel pile after passing through the flow control valve, air enters the hydrogen fuel pile after passing through a pressurizing and filtering device and the air compressor, oxidation-reduction reaction is carried out on the hydrogen and oxygen in the air under the action of a catalyst, chemical energy is converted into electric energy, produced purified water is discharged from the hydrogen fuel pile in a water vapor form, feedback of electric energy output detection by the hydrogen fuel pile electric energy generation control module is detected, and the hydrogen fuel pile reaction rate is accurately controlled by adjusting the flow control valve and the air compressor, so that the hydrogen fuel pile electric energy generation module is accurately controlled.
As shown in fig. 12, the integrated power management module is used for stabilizing input electric energy, ensuring stable power supply of avionics equipment, and has a standby power supply function and a super capacitor wide voltage stabilizing function. Comprises a standby battery, an electric energy management part and a super capacitor.
The task state comprises a stop state, a hover state, a low-speed cruising state and a high-speed cruising state. As shown in fig. 4, in the shutdown state, the arm is close to the machine body to fold, the lift rotor rotates to be parallel to the arm, the arm is retracted inwards to be closely attached to the machine body, and the shutdown space is saved. As shown in fig. 6, in the hover state, the drone remains level with the optimal center of gravity at the geometric center; as shown in fig. 7, in the low-speed cruising state, the unmanned aerial vehicle flies at a negative attack angle, and the optimal center of gravity is located in front of the geometric center of gravity; as shown in fig. 8, in the high-speed cruise condition, the unmanned aerial vehicle maintains a positive angle of attack flight with the optimum center of gravity at the geometric center of gravity.
The unmanned aerial vehicle adopts a sandwich structure formed by the left and right horn and the bearing fuselage, the horn and the bearing fuselage are distributed along the longitudinal axis of the unmanned aerial vehicle, the overall structure is simple, the cross-sectional area is small, the cross-sectional area is uniform, the flight resistance is small, the whole cross-sectional area of the unmanned aerial vehicle is minimum, and the ground parking occupied space of the unmanned aerial vehicle is small.
The unmanned aerial vehicle lift rotor is longitudinally distributed, and compared with other unmanned aerial vehicles, the forward cross-sectional area is small, and the cruising resistance is small.
Three pairs of coaxial counter-rotating horizontal rotating lift rotor power sets are uniformly distributed and arranged on a longitudinal axis of a horn, each lift rotor power set comprises an upper lift rotor and a lower lift rotor, the upper lift rotor and the lower lift rotor are respectively arranged on the upper part and the lower part of the horn, a propelling rotor with a rotating shaft coincident with the longitudinal axis is arranged at the tail part of the horn, and the rotating directions of the propelling rotors and the lift rotors at the corresponding positions of the left horn and the right horn are opposite; the integrated power horn provides vertical lift and horizontal forward thrust dual propulsion rotor provides counter-rotation, and the vertical lift and horizontal forward thrust provide unmanned aerial vehicle cruising horizontal thrust together, and as shown in fig. 16, dual propulsion rotor differential control provides unmanned aerial vehicle cruising heading control moment.
As shown in fig. 15, the top of the bearing body is an avionics cabin and an electric energy generating module, the middle part of the bearing body is a pilot operating seat, the rear part is a modularized energy cabin, the lower part is a modularized load cabin, and the bottom of the bearing body and the lower part of the modularized load cabin are provided with a landing gear which can not be retracted and extended and tilted;
the bearing fuselage integrates unmanned aerial vehicle energy, control and load equipment, and provides flight control, electric energy and task load for the unmanned aerial vehicle.
Wherein the unmanned aerial vehicle is provided with a pilot operation seat which integrates a navigation parameter display screen of an unmanned aerial vehicle controller, the carrying pilot realizes unmanned aerial vehicle flight by people operation and has various flight states of carrying people, transporting goods and passenger and goods in a mixed mode.
The unmanned aerial vehicle realizes the transportation of goods on the way by changing the modularized load cabin to carry different loads to finish different people or carry goods, and the operator seat carrying pilot positioned in the front of the bearing body realizes the unmanned aerial vehicle to fly.
The unmanned aerial vehicle adopts the modularized load cabin, and different tasks can be executed by replacing different load modules.
A control method of a compound propulsion unmanned aerial vehicle with an adjustable gravity center,
the self-adaptive lift rotor wing is adopted to fly at a positive attack angle, the lift rotor wing and the airflow are at the positive attack angle during cruising, and the head-on incoming flow is coupled with the downward washing airflow of the lift rotor wing;
the integral lifting force of the unmanned aerial vehicle is improved, the energy consumption of the horizontal rotor wing in the cruising stage is reduced, and the cruising efficiency of the unmanned aerial vehicle is improved.
The self-adaptive positive angle of attack flight of the lift rotor wing means that the unmanned plane automatically adjusts the positive angle of attack number of the lift rotor wing to fly according to the flying airspeed, and composite propulsion is adopted in the cruising process, and the lift rotor wing and the incoming flow are coupled to additionally generate lift force, so that the purpose of improving the flying efficiency is achieved; under different airspeeds, the optimal flight attack angle of the lift rotor wing is different, and the attack angle of the unmanned aerial vehicle is adjusted through gravity center adjustment and lift rotor wing attitude control, so that the flight attack angle of the lift rotor wing is adjusted, the unmanned aerial vehicle automatically adjusts the attack angle under different airspeeds, and the aim of optimal cruising efficiency is achieved.
The unmanned aerial vehicle automatically adjusts the attack angle under different airspeeds, namely adjusts the forward attack angle number of the lift rotor wing according to the flying airspeeds, the unmanned aerial vehicle is in a composite propulsion cruising state, and the attack angle of the unmanned aerial vehicle automatically adjusts according to the airspeeds to achieve the best flying efficiency. And when the unmanned aerial vehicle flies at a low speed, a medium speed and a high speed, the flying attack angle of the unmanned aerial vehicle is correspondingly adjusted.
As shown in fig. 17, the unmanned aerial vehicle flies in a common multi-rotor mode during take-off, hover, landing and low-speed short-distance flight, the propulsive rotor is only supplemented with yaw moment when the heading is continuously changed, and lift is completely provided by the rotation of the lift rotor.
When the unmanned aerial vehicle flies at low-speed cruising, the unmanned aerial vehicle flies in a composite propulsion mode, the unmanned aerial vehicle maintains an attack angle of 0 DEG, the propulsion rotor provides all forward thrust, and the lift rotor provides all lift.
When the unmanned aerial vehicle flies at the medium-speed cruising, the unmanned aerial vehicle flies in a large-attack-angle compound propulsion mode, the unmanned aerial vehicle keeps a large attack angle, and the propulsion rotor wings provide all forward thrust. The front lift rotor output is greater than the rear rotor, the unmanned aerial vehicle maintains a large angle of attack state, and the vertical component of the lift rotor provides a part of lift. The propulsion rotor wing pushes the unmanned aerial vehicle to fly forward, and the airflow is coupled with the downward washing airflow of the lift rotor wing to additionally generate a part of lift force.
When the unmanned aerial vehicle flies at a high speed cruising speed, the propelling rotor continues to accelerate, the airspeed is gradually increased, the lift force generated by the coupling of the incoming flow and the downwash of the lift rotor is larger and larger, the output of the front lift rotor is gradually reduced, the attack angle of the unmanned aerial vehicle is reduced, the flight resistance of the unmanned aerial vehicle is also gradually reduced, and the unmanned aerial vehicle keeps a smaller attack angle for high-speed cruising.
The above-described embodiment represents only one embodiment of the present invention, and is not to be construed as limiting the scope of the present invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (10)
1. The utility model provides a focus adjustable compound propulsion unmanned aerial vehicle, including electric energy generation module, bear fuselage, modularization energy cabin, modularization load cabin, horn, avionics cabin, pilot's operator's seat, lift rotor, propulsion rotor and undercarriage, the electric energy generation module includes gas turbine electric energy generation module and/or hydrogen fuel pile electric energy generation module, modularization energy cabin includes fuel tank and/or high pressure hydrogen tank fuel tank, the electric energy that the electric energy generation module sent provides the energy through avionics cabin's comprehensive power management module for equipment such as navigation equipment, mission computer, the electric energy that sends provides the energy for lift rotor and propulsion rotor that installs in the horn simultaneously;
the bearing machine body is arranged between the two machine arms, the two machine arms are connected through four parallel cross beams, and the longitudinal axes of the two machine arms and the bearing machine body are parallel; the bearing machine body is in translation relative to the machine arm in the longitudinal axis direction, the distance between the machine arm and the bearing machine body is adjusted through translation, and the cross beam is hinged with the machine arm and the bearing machine body through rotary joints respectively; the two power horn of the unmanned aerial vehicle are hinged with the bearing body in parallel through four cross beams, and the rotary joint rotates to drive the horn to move forwards and backwards, so that the gravity center of the unmanned aerial vehicle is adjusted, and the gravity center of the unmanned aerial vehicle is adapted to different task states;
the unmanned aerial vehicle adopts a lift rotor wing and a propulsion rotor wing to carry out compound propulsion, so that the unmanned aerial vehicle can realize vertical take-off and landing, hovering and high-speed cruising; three pairs of coaxial contra-rotating and horizontally-rotating lift rotors are longitudinally arranged on each horn to provide lift, the vertically-rotating tail propulsion rotors provide cruising and horizontal thrust for the unmanned aerial vehicle, the left propulsion rotor and the right propulsion rotor contra-rotate to offset the counter-torque moment, and the differential rotation provides heading control moment when the unmanned aerial vehicle cruises.
2. The center of gravity adjustable composite propulsion unmanned aerial vehicle of claim 1, wherein: the gas turbine power generation module generates power by using fossil fuel kerosene or diesel oil in the fuel tank, and the hydrogen fuel pile power generation module generates power by using hydrogen in the high-pressure hydrogen tank fuel tank; when the gas turbine electric energy generation module is carried, the energy cabin is fossil fuel kerosene or diesel oil, and the gas turbine works to drive the generator to generate electricity; when the hydrogen fuel pile electric energy generating module is carried, the energy cabin is a high-pressure hydrogen storage tank.
3. The center of gravity adjustable composite propulsion unmanned aerial vehicle of claim 2, wherein: the gas turbine electric generation module comprises a gas turbine, a high-speed permanent magnet brushless generator, a three-phase rectifier bridge and a gas turbine electric energy generation controller; after the gas turbine works, the high-speed permanent magnet brushless generator is driven to rotate for power generation, and the generated three-phase alternating current is rectified by the three-phase rectifier bridge to output stable direct current; the gas turbine power generation controller detects the rotation speed of the gas turbine and outputs direct current voltage, adjusts the rotation speed of the gas turbine according to voltage feedback, and keeps the gas turbine power generation module to output stable direct current power.
4. The center of gravity adjustable composite propulsion unmanned aerial vehicle of claim 2, wherein: the hydrogen fuel pile electric energy generation module is a proton exchange membrane hydrogen fuel cell and comprises a flow control valve, a hydrogen fuel pile, a voltage stabilizer, an air compressor and a hydrogen fuel pile electric energy generation control module, high-pressure hydrogen enters the hydrogen fuel pile after passing through the flow control valve, air enters the hydrogen fuel pile after passing through a pressurizing and filtering device and the air compressor, oxidation-reduction reaction is carried out on the hydrogen and oxygen in the air under the action of a catalyst, chemical energy is converted into electric energy, produced purified water is discharged from the hydrogen fuel pile in a water vapor form, the hydrogen fuel pile electric energy generation control module detects feedback of electric energy output, and the hydrogen fuel pile electric energy generation module is accurately controlled by adjusting the reaction rate of the hydrogen fuel pile through the flow control valve and the air compressor.
5. The center of gravity adjustable composite propulsion unmanned aerial vehicle of claim 1, wherein: the task state comprises a stop state, a hover state, a low-speed cruising state and a high-speed cruising state; in a stop state, the horn is closed to fold the fuselage, the lift rotor rotates to be parallel to the horn, and the horn is retracted inwards and is clung to the bearing fuselage; in a hovering state, the unmanned aerial vehicle is kept horizontal, and the optimal gravity center is positioned in the geometric center; in a low-speed cruising state, the unmanned aerial vehicle flies at a negative attack angle, and the optimal gravity center is positioned in front of the geometric gravity center; in a high-speed cruising state, the unmanned aerial vehicle keeps flying at a positive angle of attack, and the optimal gravity center is positioned at the geometric gravity center.
6. The center of gravity adjustable composite propulsion unmanned aerial vehicle of claim 1, wherein: the top of the bearing body is provided with an avionics cabin and an electric energy generation module, the middle part of the bearing body is provided with a pilot operating seat at the front, the rear is provided with a modularized energy cabin, the lower part is provided with a modularized load cabin, and the bottom of the bearing body and the lower part of the modularized load cabin are provided with a landing gear which can not be retracted and extended and tilted; the bearing fuselage integrates unmanned aerial vehicle energy, control and load equipment, and provides flight control, electric energy and task load for the unmanned aerial vehicle;
the unmanned aerial vehicle carries a pilot operation seat, the pilot operation seat integrates a navigation parameter display screen of an unmanned aerial vehicle controller, and the carrying pilot realizes the unmanned aerial vehicle flight operation, and has various flight states of carrying people, transporting goods and passenger and goods in a mixed mode.
7. The center of gravity adjustable composite propulsion unmanned aerial vehicle of claim 1, wherein: three pairs of coaxial counter-rotating horizontally rotating lift rotor power sets are uniformly distributed and arranged on a longitudinal axis of a horn, each lift rotor power set comprises an upper lift rotor and a lower lift rotor, the upper lift rotor and the lower lift rotor are respectively arranged on the upper part and the lower part of the horn, a propelling rotor with a rotating shaft coincident with the longitudinal axis is arranged at the tail part of the horn, and the rotating directions of the propelling rotors and the lift rotors at the corresponding positions of the left horn and the right horn are opposite; the integrated power horn provides vertical direction lift and horizontal forward thrust double-propulsion rotor wing and provides opposite rotation, vertical direction lift and horizontal forward thrust provide unmanned aerial vehicle cruising horizontal thrust together, double-propulsion rotor wing differential control provides unmanned aerial vehicle cruising course control moment.
8. A control method of a composite propulsion unmanned aerial vehicle with an adjustable center of gravity according to any one of claims 1 to 7, wherein: the self-adaptive lift rotor wing is adopted to fly at a positive attack angle, the lift rotor wing and the airflow are at the positive attack angle during cruising, and the head-on incoming flow is coupled with the downward washing airflow of the lift rotor wing; the self-adaptive positive angle of attack flight of the lift rotor wing means that the unmanned plane automatically adjusts the positive angle of attack degree flight of the lift rotor wing according to the flight airspeed, and composite propulsion is adopted in the cruising process, and the lift rotor wing is coupled with incoming flow to additionally generate lift; under different airspeeds, the optimal flight attack angle of the lift rotor wing is different, and the attack angle of the unmanned aerial vehicle is adjusted through gravity center adjustment and lift rotor wing attitude control, so that the flight attack angle of the lift rotor wing is adjusted, and the unmanned aerial vehicle automatically adjusts the attack angle under different airspeeds.
9. The control method according to claim 8, characterized in that: the unmanned aerial vehicle automatically adjusts the attack angle under different airspeeds, namely, the forward attack angle number of the lift rotor wing is adjusted according to the flying airspeeds, the unmanned aerial vehicle is in a composite propulsion cruising state, and the attack angle of the unmanned aerial vehicle is automatically adjusted according to the airspeeds to achieve the optimal flying efficiency; and when the unmanned aerial vehicle flies at a low speed, a medium speed and a high speed, the flying attack angle of the unmanned aerial vehicle is correspondingly adjusted.
10. The control method according to claim 8, characterized in that: when the unmanned aerial vehicle flies at take-off, hovering, landing and low speed and short distance, the unmanned aerial vehicle flies in a common multi-rotor mode, the propelling rotor is only used as yaw moment supplement when the course is continuously changed, and the lift force is completely provided by the rotation of the lift force rotor; when the unmanned aerial vehicle flies at a low-speed cruising mode, the unmanned aerial vehicle flies in a composite propulsion mode, the unmanned aerial vehicle maintains a 0-degree attack angle, the propulsion rotor provides all forward thrust, and the lift rotor provides all lift;
when the unmanned aerial vehicle flies at a medium-speed cruising speed, the unmanned aerial vehicle flies in a large-attack-angle compound propulsion mode, the unmanned aerial vehicle keeps a large attack angle, the propulsion rotor wings provide all forward thrust, the front lift force rotor wing output is larger than the rear rotor wing, the unmanned aerial vehicle keeps a large attack angle state, and the vertical component force of the lift force rotor wings provides a part of lift force; the propelling rotor wing pushes the unmanned aerial vehicle to fly forwards, and the airflow is coupled with the downward washing airflow of the lifting rotor wing to additionally generate a part of lifting force;
when the unmanned aerial vehicle flies at a high speed cruising speed, the propelling rotor continues to accelerate, the airspeed is gradually increased, the lift force generated by the coupling of the incoming flow and the downwash of the lift rotor is larger and larger, the output of the front lift rotor is gradually reduced, the attack angle of the unmanned aerial vehicle is reduced, the flight resistance of the unmanned aerial vehicle is also gradually reduced, and the unmanned aerial vehicle keeps a smaller attack angle for high-speed cruising.
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| CN113562168B (en) * | 2021-07-08 | 2023-06-16 | 河南星冕机器人科技有限公司 | Two-dimensional vector propulsion type triaxial aircraft and control method thereof |
| WO2023044821A1 (en) * | 2021-09-24 | 2023-03-30 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN114020012B (en) * | 2021-10-22 | 2023-04-28 | 西安羚控电子科技有限公司 | Flat flight control system and method of fixed wing unmanned aerial vehicle |
| CN114572393A (en) * | 2022-03-29 | 2022-06-03 | 南京晓航机器人科技有限公司 | Aircraft with combined type lift structure |
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